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In this paper, we investigate an assist control for a system in which a human and a robot cooperate to transport an object toward a designated position and angle. We consider a situation where the force due to the human to the object cannot be measured directly. In order to tackle this situation, an assist control with a nonlinear disturbance observer is proposed. By using the observer, we estimate...
Background
Two modes of ventilation commonly used in children requiring chronic home mechanical ventilation (HMV) via tracheostomy are Assist Control (AC) and Synchronized Intermittent Mandatory Ventilation with Pressure Support (SIMV + PS). There has been no study comparing these two modes of ventilation in children requiring chronic HMV.
Methods
We studied children requiring HMV capable of completing...
This paper presents a new assist control method for the positioning task of master-slave manipulators. The considered manipulator has a flexible slave arm, which causes deterioration of both the positioning accuracy and the maneuverability owing to elastic vibration of the slave arm. In order to improve the positioning accuracy and reduce operator's load, an assist control method is proposed by partly...
This paper deals with an assist control on a haptic interface to promote operator's skill based on a new concept of a human-in-the-loop system called human adaptive mechatronics (HAM). HAM is an intelligent machine which adapts to human, improves his/her skill, and enhances total performance of total man-machine system. The proposed assist-control scheme includes online estimation of an operator's...
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